version: 66.07
glider: 543
mission: 14
dive: 525
start: 11 22 115 5 52 16
data:
$ID,543
$MISSION,14
$DIVE,525
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,5
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,390
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,53008
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4300
$TGT_DEFAULT_LON,800
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-25848.934
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,86
$PITCH_MAX,3908
$C_PITCH,1905
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,55
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,394
$ROLL_MAX,3944
$ROLL_DEG,25
$C_ROLL_DIVE,3209
$C_ROLL_CLIMB,2924
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,88
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,507
$VBD_MAX,3960
$C_VBD,1500
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-55.053406
$PRESSURE_SLOPE,0.00011638312
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.050000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,117
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043512532
$SEABIRD_T_H,0.00062429422
$SEABIRD_T_I,2.2835797e-05
$SEABIRD_T_J,2.3805812e-06
$SEABIRD_C_G,-10.305622
$SEABIRD_C_H,1.1763667
$SEABIRD_C_I,-0.0018977363
$SEABIRD_C_J,0.00012677554
$GPS1,221115,054103,-4302.059,840.683,50,1.1,51,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-73.1
$GPS2,221115,055152,-4302.060,840.927,40,0.9,41,-25.1
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAZ_BUT4
$TGT_LATLONG,-4304.000,836.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,266.8,7573,-17.1,-8.547
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.43,-116.8,0.0,0.0,0,58,0.00,0.00,-40.55,0.000,2,0.000,0.000,61,3214,1471,0,0,0,0,0,0
$GC,61,-0.43,-116.8,3.2,-2.2,5,94,7.15,1.27,-19.02,0.000,4,0.235,0.049,1759,2320,1976,0,0,0,0,0,0
$GC,157,-0.43,-116.8,10.2,-7.7,19,166,0.00,1.42,0.00,0.000,6,0.000,0.047,1754,3203,1977,0,0,0,0,0,0
$GC,217,-0.40,-116.8,14.1,-6.3,28,225,0.00,1.17,0.00,0.000,4,0.000,0.057,1748,3949,1977,0,0,0,0,0,0
$GC,259,-0.35,-116.8,18.4,-10.4,34,269,0.12,1.02,0.00,0.000,6,0.138,0.030,1787,3237,1978,0,0,0,0,0,0
$GC,320,-0.40,-116.8,22.5,-5.7,43,329,0.00,1.35,0.00,0.000,4,0.000,0.025,1787,2278,1977,0,0,0,0,0,0
$GC,362,-0.47,-116.8,24.1,-3.5,49,371,0.00,1.50,0.00,0.000,6,0.000,0.047,1783,3205,1978,0,0,0,0,0,0
$GC,517,-0.50,-116.8,30.8,-4.4,74,526,0.12,1.20,0.00,0.000,4,0.089,0.056,1716,3957,1977,0,0,0,0,0,0
$GC,601,-0.38,-116.8,39.7,-11.9,87,610,0.20,1.08,0.00,0.000,6,0.139,0.028,1777,3209,1977,0,0,0,0,0,0
$GC,751,-0.40,-116.8,49.9,-5.0,112,758,0.00,1.33,0.00,0.000,4,0.000,0.026,1776,2282,1977,0,0,0,0,0,0
$GC,774,-0.43,-116.8,51.3,-6.3,115,780,0.00,1.50,0.00,0.000,6,0.000,0.048,1772,3207,1977,0,0,0,0,0,0
$GC,1122,-0.45,-116.8,74.6,-6.9,176,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,3207,1978,0,0,0,0,0,0
$GC,1471,-0.46,-116.8,98.6,-7.3,237,1479,0.00,1.17,0.00,0.000,4,0.000,0.056,1767,3955,1977,0,0,0,0,0,0
$GC,1524,-0.46,-116.8,103.3,-8.4,243,1531,0.00,1.08,0.00,0.000,6,0.000,0.029,1767,3201,1977,0,0,0,0,0,0
$GC,1850,-0.46,-116.8,128.6,-7.5,274,1852,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,3201,1977,0,0,0,0,0,0
$GC,2170,-0.46,-116.8,152.8,-8.2,304,2173,0.00,1.20,0.00,0.000,4,0.000,0.055,1761,3956,1977,0,0,0,0,0,0
$GC,2250,-0.46,-116.8,159.8,-8.4,311,2254,0.00,1.08,0.00,0.000,6,0.000,0.030,1761,3207,1977,0,0,0,0,0,0
$GC,2581,-0.46,-116.8,186.3,-7.9,342,2583,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,3207,1977,0,0,0,0,0,0
$GC,2902,-0.46,-116.8,210.5,-7.6,372,2906,0.00,1.17,0.00,0.000,4,0.000,0.055,1756,3950,1977,0,0,0,0,0,0
$GC,2962,-0.46,-116.8,215.3,-8.0,377,2966,0.00,1.05,0.00,0.000,6,0.000,0.031,1756,3214,1977,0,0,0,0,0,0
$GC,3294,-0.46,-116.8,243.2,-7.9,408,3297,0.00,1.30,0.00,0.000,4,0.000,0.025,1755,2293,1978,0,0,0,0,0,0
$GC,3317,-0.46,-116.8,245.3,-8.7,410,3321,0.00,1.50,0.00,0.000,6,0.000,0.049,1750,3211,1977,0,0,0,0,0,0
$GC,3650,-0.46,-116.8,272.4,-8.2,441,3654,0.00,1.15,0.00,0.000,4,0.000,0.055,1745,3949,1977,0,0,0,0,0,0
$GC,3699,-0.43,-116.8,276.7,-9.1,445,3703,0.00,1.05,0.00,0.000,6,0.000,0.029,1744,3211,1977,0,0,0,0,0,0
$GC,4030,-0.41,-116.8,306.1,-9.0,476,4032,0.00,0.00,0.00,0.000,6,0.000,0.000,1745,3211,1977,0,0,0,0,0,0
$GC,4351,-0.39,-116.8,334.4,-8.7,506,4358,0.12,0.00,0.00,0.000,6,0.158,0.000,1777,3210,1977,0,0,0,0,0,0
$GC,4681,-0.44,-116.8,356.4,-6.5,537,4684,0.00,1.30,0.00,0.000,4,0.000,0.026,1777,2286,1977,0,0,0,0,0,0
$GC,4708,-0.51,-116.8,358.6,-6.6,539,4715,0.00,1.50,0.00,0.000,6,0.000,0.047,1773,3209,1977,0,0,0,0,0,0
$GC,5035,-0.55,-116.8,382.0,-7.4,570,5037,0.12,0.00,0.00,0.000,6,0.090,0.000,1710,3209,1977,0,0,0,0,0,0
$GC,5349,-0.47,-116.8,417.2,-11.6,593,5351,0.15,0.00,0.00,0.000,6,0.157,0.000,1750,3209,1977,0,0,0,0,0,0
$GC,5658,-0.47,-116.8,443.8,-8.5,608,5662,0.00,1.17,0.00,0.000,4,0.000,0.056,1746,3958,1977,0,0,0,0,0,0
$GC,5709,-0.45,-116.8,448.6,-8.9,610,5713,0.00,1.08,0.00,0.000,6,0.000,0.030,1746,3210,1977,0,0,0,0,0,0
$GC,6036,-0.45,-116.8,476.4,-8.6,626,6040,0.00,1.30,0.00,0.000,4,0.000,0.026,1747,2287,1977,0,0,0,0,0,0
$GC,6077,-0.47,-116.8,479.6,-7.8,627,6084,0.00,1.50,0.00,0.000,6,0.000,0.048,1740,3204,1977,0,0,0,0,0,0
$GC,6394,-0.44,-116.8,506.3,-8.1,643,6395,0.00,0.00,0.00,0.000,6,0.000,0.000,1740,3205,1977,0,0,0,0,0,0
$GC,6703,-0.42,-116.8,530.1,-7.5,658,6707,0.00,1.17,0.00,0.000,4,0.000,0.057,1734,3953,1977,0,0,0,0,0,0
$GC,6754,-0.38,-116.8,534.4,-8.4,660,6759,0.12,1.08,0.00,0.000,6,0.130,0.030,1774,3213,1977,0,0,0,0,0,0
$GC,7083,-0.43,-116.8,552.4,-5.6,676,7087,0.00,1.17,0.00,0.000,4,0.000,0.057,1771,3954,1977,0,0,0,0,0,0
$GC,7123,-0.47,-116.8,554.9,-6.5,677,7130,0.00,1.10,0.00,0.000,6,0.000,0.030,1771,3194,1977,0,0,0,0,0,0
$GC,7440,-0.52,-116.8,573.1,-5.7,693,7441,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,3195,1977,0,0,0,0,0,0
$GC,7750,-0.56,-116.8,589.7,-5.3,708,7754,0.12,1.23,0.00,0.000,4,0.091,0.057,1696,3950,1977,0,0,0,0,0,0
$GC,7788,-0.44,-116.8,593.5,-10.7,709,7795,0.20,1.08,0.00,0.000,6,0.140,0.030,1757,3214,1977,0,0,0,0,0,0
$GC,8106,-0.46,-116.8,614.9,-6.9,725,8110,0.00,1.33,0.00,0.000,4,0.000,0.026,1757,2285,1977,0,0,0,0,0,0
$GC,8140,-0.50,-116.8,617.5,-7.1,726,8144,0.00,1.52,0.00,0.000,6,0.000,0.049,1752,3216,1977,0,0,0,0,0,0
$GC,8462,-0.50,-116.8,641.6,-7.7,742,8463,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,3215,1977,0,0,0,0,0,0
$GC,8772,-0.50,-116.8,666.2,-8.0,757,8776,0.00,1.15,0.00,0.000,4,0.000,0.057,1747,3949,1977,0,0,0,0,0,0
$GC,8805,-0.50,-116.8,669.2,-8.6,758,8809,0.00,1.08,0.00,0.000,6,0.000,0.030,1747,3205,1977,0,0,0,0,0,0
$GC,9127,-0.50,-116.8,695.0,-7.9,774,9128,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,3205,1977,0,0,0,0,0,0
$GC,9437,-0.50,-116.8,718.6,-7.5,789,9441,0.00,1.20,0.00,0.000,4,0.000,0.057,1741,3957,1977,0,0,0,0,0,0
$GC,9482,-0.50,-116.8,722.2,-7.9,791,9486,0.00,1.08,0.00,0.000,6,0.000,0.031,1742,3213,1977,0,0,0,0,0,0
$GC,9815,-0.50,-116.8,746.1,-7.1,807,9817,0.00,0.00,0.00,0.000,6,0.000,0.000,1741,3213,1977,0,0,0,0,0,0
$GC,10126,-0.50,-116.8,768.3,-7.0,822,10127,0.00,0.00,0.00,0.000,6,0.000,0.000,1741,3213,1977,0,0,0,0,0,0
$GC,10434,-0.50,-116.8,791.0,-7.6,837,10435,0.00,0.00,0.00,0.000,6,0.000,0.000,1741,3213,1977,0,0,0,0,0,0
$GC,10744,-0.50,-116.8,816.1,-8.5,852,10745,0.00,0.00,0.00,0.000,6,0.000,0.000,1741,3213,1977,0,0,0,0,0,0
$GC,11053,-0.50,-116.8,841.1,-8.0,867,11054,0.00,0.00,0.00,0.000,6,0.000,0.000,1741,3213,1977,0,0,0,0,0,0
$GC,11362,-0.50,-116.8,864.1,-7.3,882,11363,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,3213,1977,0,0,0,0,0,0
$GC,11672,-0.50,-116.8,887.7,-7.7,897,11676,0.00,1.33,0.00,0.000,4,0.000,0.027,1741,2289,1977,0,0,0,0,0,0
$GC,11700,-0.53,-116.8,889.9,-7.1,898,11703,0.00,1.50,0.00,0.000,6,0.000,0.050,1735,3202,1977,0,0,0,0,0,0
$GC,12027,-0.53,-116.8,914.1,-7.2,914,12031,0.00,1.17,0.00,0.000,4,0.000,0.057,1729,3948,1977,0,0,0,0,0,0
$GC,12061,-0.50,-116.8,916.8,-8.3,915,12065,0.00,1.08,0.00,0.000,6,0.000,0.031,1729,3209,1976,0,0,0,0,0,0
$GC,12384,-0.48,-116.8,940.2,-7.1,931,12385,0.00,0.00,0.00,0.000,6,0.000,0.000,1729,3209,1977,0,0,0,0,0,0
$STATE,12607,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12608,begin apogee
$GC,12614,-0.09,0.0,956.3,6.8,942,12760,0.47,0.00,132.43,1.822,6,0.130,0.000,1873,2921,1499,0,0,0,0,2,0
$STATE,12761,end apogee,CONTROL_FINISHED_OK
$STATE,12761,begin climb
$GC,12763,0.43,116.8,959.5,0.0,949,12899,0.50,1.55,129.38,1.804,4,0.084,0.026,2044,2042,1023,0,0,0,0,0,0
$GC,12943,0.43,119.6,947.3,8.4,957,12951,0.00,1.58,3.80,1.154,6,0.000,0.044,2044,2921,1011,0,0,0,0,0,0
$GC,13261,0.39,119.6,915.1,10.3,973,13264,0.00,1.42,0.00,0.000,4,0.000,0.055,2044,3812,1009,0,0,0,0,0,0
$GC,13333,0.30,119.6,906.2,11.9,976,13337,0.15,1.33,0.00,0.000,6,0.161,0.028,2006,2912,1008,0,0,0,0,0,0
$GC,13663,0.36,145.0,881.1,7.3,992,13693,0.00,1.50,25.55,1.778,4,0.000,0.056,2006,3804,908,0,0,0,0,0,0
$GC,13729,0.36,145.0,875.7,9.2,995,13733,0.00,1.33,0.00,0.000,6,0.000,0.028,2011,2918,907,0,0,0,0,0,0
$GC,14062,0.39,150.8,848.5,8.3,1011,14071,0.00,0.00,6.78,1.518,6,0.000,0.000,2011,2917,883,0,0,0,0,0,0
$GC,14372,0.45,170.5,823.9,7.6,1026,14397,0.12,1.48,20.75,1.737,4,0.097,0.054,2066,3815,803,0,0,0,0,0,0
$GC,14476,0.35,170.5,810.5,14.6,1030,14483,0.15,1.33,0.00,0.000,6,0.159,0.027,2028,2915,803,0,0,0,0,0,0
$GC,14793,0.37,170.5,780.5,9.1,1046,14794,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2915,802,0,0,0,0,0,0
$GC,15102,0.39,176.3,754.3,8.3,1061,15110,0.00,0.00,6.80,1.502,6,0.000,0.000,2028,2915,779,0,0,0,0,0,0
$GC,15412,0.43,184.4,729.2,8.2,1076,15427,0.00,1.50,9.45,1.589,4,0.000,0.056,2027,3813,748,0,0,0,0,0,0
$GC,15478,0.43,184.4,723.0,9.6,1079,15482,0.00,1.30,0.00,0.000,6,0.000,0.029,2033,2929,748,0,0,0,0,0,0
$GC,15812,0.45,184.4,694.2,8.7,1095,15813,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2928,747,0,0,0,0,0,0
$GC,16121,0.47,184.4,667.0,8.9,1110,16124,0.00,1.42,0.00,0.000,4,0.000,0.054,2033,3811,747,0,0,0,0,0,0
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$STATE,22640,end climb,SURFACE_DEPTH_REACHED
$STATE,22640,begin surface coast
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$STATE,22647,end surface coast,CONTROL_FINISHED_OK
$STATE,22647,begin surface
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$XPDR_PINGS,0
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$10V_AH,9.7,65.079
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.525,100.750,388.150,0.000,0.000,30.476,45.379,369.752,0.000,0.000,44.841,4064.861,14327.768,524.280,3995.631,442.512,0.000,2012.188,0.000,3517.906,0.000,0.544,0.000
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$MEM,353892
$DATA_FILE_SIZE,96767,1668
$CAP_FILE_SIZE,214946,0
$CFSIZE,259252224,213483520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,221115,121233,-4302.169,840.659,58,0.8,58,-25.1